From: Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review
Specifications | SCalf-II | HIT | SJTU | CNVI |
---|---|---|---|---|
Length × width × height (m) | 1.1 × 0.49 × 1 | ‒ | 1.2 × 0.5 × 1 | 1.2 × 0.7 × 1 |
Weight (kg) | 123 | 150 | 130 | 130 |
Payload (kg) | 120 | 52 | 50 | 50 |
Max speed (km/h) | 5 | 4.32 | 3.74 | 6 |
Gaits | Trot Hopping Creep | Trot Creep | Trot Creep | Trot |
Active DOFs | 3 | 3 | 3 | 3 |
Passive DOFs | 1 | 1 | 3 | ‒ |
Running time (min) | 40 | 40 | 40 | 120 |
Slope (°) | 10 | 10 | 10 | 30 |
Obstacle height (mm) | 150 | 150 | 150 | ‒ |